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Update yolo example for stereo/no-stereo - Humble (#447)
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| #include <cstdio> | ||
| #include <iostream> | ||
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| #include "camera_info_manager/camera_info_manager.hpp" | ||
| #include "depthai_bridge/BridgePublisher.hpp" | ||
| #include "depthai_bridge/ImageConverter.hpp" | ||
| #include "depthai_bridge/ImgDetectionConverter.hpp" | ||
| #include "rclcpp/executors.hpp" | ||
| #include "rclcpp/node.hpp" | ||
| #include "sensor_msgs/msg/image.hpp" | ||
| #include "vision_msgs/msg/detection2_d_array.hpp" | ||
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| // Inludes common necessary includes for development using depthai library | ||
| #include "depthai/device/DataQueue.hpp" | ||
| #include "depthai/device/Device.hpp" | ||
| #include "depthai/pipeline/Pipeline.hpp" | ||
| #include "depthai/pipeline/node/ColorCamera.hpp" | ||
| #include "depthai/pipeline/node/DetectionNetwork.hpp" | ||
| #include "depthai/pipeline/node/XLinkOut.hpp" | ||
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| const std::vector<std::string> label_map = { | ||
| "person", "bicycle", "car", "motorbike", "aeroplane", "bus", "train", "truck", "boat", | ||
| "traffic light", "fire hydrant", "stop sign", "parking meter", "bench", "bird", "cat", "dog", "horse", | ||
| "sheep", "cow", "elephant", "bear", "zebra", "giraffe", "backpack", "umbrella", "handbag", | ||
| "tie", "suitcase", "frisbee", "skis", "snowboard", "sports ball", "kite", "baseball bat", "baseball glove", | ||
| "skateboard", "surfboard", "tennis racket", "bottle", "wine glass", "cup", "fork", "knife", "spoon", | ||
| "bowl", "banana", "apple", "sandwich", "orange", "broccoli", "carrot", "hot dog", "pizza", | ||
| "donut", "cake", "chair", "sofa", "pottedplant", "bed", "diningtable", "toilet", "tvmonitor", | ||
| "laptop", "mouse", "remote", "keyboard", "cell phone", "microwave", "oven", "toaster", "sink", | ||
| "refrigerator", "book", "clock", "vase", "scissors", "teddy bear", "hair drier", "toothbrush"}; | ||
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| dai::Pipeline createPipeline(bool syncNN, std::string nnPath) { | ||
| dai::Pipeline pipeline; | ||
| auto colorCam = pipeline.create<dai::node::ColorCamera>(); | ||
| auto detectionNetwork = pipeline.create<dai::node::YoloDetectionNetwork>(); | ||
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| // create xlink connections | ||
| auto xoutRgb = pipeline.create<dai::node::XLinkOut>(); | ||
| auto xoutNN = pipeline.create<dai::node::XLinkOut>(); | ||
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| xoutRgb->setStreamName("preview"); | ||
| xoutNN->setStreamName("detections"); | ||
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| // Properties | ||
| colorCam->setPreviewSize(416, 416); | ||
| colorCam->setResolution(dai::ColorCameraProperties::SensorResolution::THE_1080_P); | ||
| colorCam->setInterleaved(false); | ||
| colorCam->setColorOrder(dai::ColorCameraProperties::ColorOrder::BGR); | ||
| colorCam->setFps(40); | ||
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| // Network specific settings | ||
| detectionNetwork->setConfidenceThreshold(0.5f); | ||
| detectionNetwork->setNumClasses(80); | ||
| detectionNetwork->setCoordinateSize(4); | ||
| detectionNetwork->setAnchors({10, 14, 23, 27, 37, 58, 81, 82, 135, 169, 344, 319}); | ||
| detectionNetwork->setAnchorMasks({{"side26", {1, 2, 3}}, {"side13", {3, 4, 5}}}); | ||
| detectionNetwork->setIouThreshold(0.5f); | ||
| detectionNetwork->setBlobPath(nnPath); | ||
| detectionNetwork->setNumInferenceThreads(2); | ||
| detectionNetwork->input.setBlocking(false); | ||
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| // Linking | ||
| colorCam->preview.link(detectionNetwork->input); | ||
| if(syncNN) | ||
| detectionNetwork->passthrough.link(xoutRgb->input); | ||
| else | ||
| colorCam->preview.link(xoutRgb->input); | ||
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| detectionNetwork->out.link(xoutNN->input); | ||
| return pipeline; | ||
| } | ||
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| int main(int argc, char** argv) { | ||
| rclcpp::init(argc, argv); | ||
| auto node = rclcpp::Node::make_shared("yolov4_node"); | ||
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| std::string tfPrefix, resourceBaseFolder, nnPath; | ||
| std::string camera_param_uri; | ||
| std::string nnName(BLOB_NAME); // Set your blob name for the model here | ||
| bool syncNN; | ||
| std::string monoResolution = "400p"; | ||
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| node->declare_parameter("tf_prefix", "oak"); | ||
| node->declare_parameter("camera_param_uri", camera_param_uri); | ||
| node->declare_parameter("sync_nn", true); | ||
| node->declare_parameter("nnName", ""); | ||
| node->declare_parameter("resourceBaseFolder", ""); | ||
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| node->get_parameter("tf_prefix", tfPrefix); | ||
| node->get_parameter("camera_param_uri", camera_param_uri); | ||
| node->get_parameter("sync_nn", syncNN); | ||
| node->get_parameter("resourceBaseFolder", resourceBaseFolder); | ||
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| if(resourceBaseFolder.empty()) { | ||
| throw std::runtime_error("Send the path to the resouce folder containing NNBlob in \'resourceBaseFolder\' "); | ||
| } | ||
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| std::string nnParam; | ||
| node->get_parameter("nnName", nnParam); | ||
| if(nnParam != "x") { | ||
| node->get_parameter("nnName", nnName); | ||
| } | ||
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| nnPath = resourceBaseFolder + "/" + nnName; | ||
| dai::Pipeline pipeline = createPipeline(syncNN, nnPath); | ||
| dai::Device device(pipeline); | ||
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| auto colorQueue = device.getOutputQueue("preview", 30, false); | ||
| auto detectionQueue = device.getOutputQueue("detections", 30, false); | ||
| auto calibrationHandler = device.readCalibration(); | ||
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| dai::rosBridge::ImageConverter rgbConverter(tfPrefix + "_rgb_camera_optical_frame", false); | ||
| auto rgbCameraInfo = rgbConverter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::CAM_A, -1, -1); | ||
| dai::rosBridge::BridgePublisher<sensor_msgs::msg::Image, dai::ImgFrame> rgbPublish(colorQueue, | ||
| node, | ||
| std::string("color/image"), | ||
| std::bind(&dai::rosBridge::ImageConverter::toRosMsg, | ||
| &rgbConverter, // since the converter has the same frame name | ||
| // and image type is also same we can reuse it | ||
| std::placeholders::_1, | ||
| std::placeholders::_2), | ||
| 30, | ||
| rgbCameraInfo, | ||
| "color"); | ||
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| dai::rosBridge::ImgDetectionConverter detConverter(tfPrefix + "_rgb_camera_optical_frame", 416, 416, false); | ||
| dai::rosBridge::BridgePublisher<vision_msgs::msg::Detection2DArray, dai::ImgDetections> detectionPublish( | ||
| detectionQueue, | ||
| node, | ||
| std::string("color/yolov4_detections"), | ||
| std::bind(&dai::rosBridge::ImgDetectionConverter::toRosMsg, &detConverter, std::placeholders::_1, std::placeholders::_2), | ||
| 30); | ||
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| detectionPublish.addPublisherCallback(); | ||
| rgbPublish.addPublisherCallback(); // addPublisherCallback works only when the dataqueue is non blocking. | ||
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| rclcpp::spin(node); | ||
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| return 0; | ||
| } |
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